plot option in run_demo

demo.py

@@ -59,7 +59,7 @@ def demo():
     state, _, _, info = env.step([0., 0., 0.])
     controller.step(state)
 
-    plot_render = run_demo_config.plot_render and GUI
+    plot_render = run_demo_config.plot_render and GUI and PLOT
     max_steps = run_demo_config.max_steps
 
     if plot_render:

notes.txt

@@ -6,14 +6,12 @@
 humans_visible have not a fixed length
 - if human_target_id/pan_target_id too far away if not visible (use
 set_target_pose and go back if visible) ?
-- in update_goals if target (for goto_target, human_features, pan_target) <
-threshold, set flag in *****_goal to activate the angle_loss
 - can't pass arguments with <class string> to jax, so need to know the link
 between weights index and the loss
-- same for loss_coef, loss_rad and active_angle_loss
+- same for loss_coef, loss_rad
 - state of mpc, only pan angle value ?
 - arg "loss" like weights, should we implement several testing/training losses
 - What about plots.py
 - Setup: cmdclass args/options does not exist in setup.cfg => in setup.py to
 execute the "make" command
-- time.sleep(1.0) in goal.py and path.py
+- time.sleep(1.0) in goal.py and path.py => path_loop_time and goal_loop_time

run_demo.sh

@@ -13,6 +13,10 @@ case $i in
     GUI=False
     # by default true
     ;;
+    -p|--plot)
+    PLOT=False
+    # true by default
+    ;;
     -n=*|--config-name=*)
     CONFIG_NAME="${i#*=}"
     ;;
@@ -74,6 +78,11 @@ then
   RECORDING=False
 fi
 
+if [ -z $PLOT ]
+then
+  PLOT=True
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 python_file=$DIR/bash_args.py
 
@@ -84,6 +93,7 @@ echo SAVE=$SAVE
 echo VERBOSE=$VERBOSE
 echo GUI=$GUI
 echo RECORDING=$RECORDING
+echo PLOT=$PLOT
 
 module1=sim2d
 module2=social_mpc
@@ -124,6 +134,7 @@ SAVE = $SAVE
 VERBOSE = $VERBOSE
 GUI = $GUI
 RECORDING=$RECORDING
+PLOT = $PLOT
 END_SCRIPT
 
 # modifying settings to run SimpleScreenRecorder

social_mpc/config/settings_ssr.conf

@@ -19,14 +19,14 @@ video_area=fixed
 video_area_follow_fullscreen=false
 video_area_screen=0
 video_frame_rate=30
-video_h=1000
+video_h=1556
 video_record_cursor=true
 video_scale=false
 video_scaled_h=480
 video_scaled_w=854
 video_v4l2_device=/dev/video0
-video_w=2394
-video_x=1446
+video_w=2400
+video_x=1440
 video_y=216
 
 [output]
@@ -37,7 +37,7 @@ audio_kbit_rate=128
 audio_options=
 container=mp4
 container_av=3g2
-file=/local_scratch/aauterna/Documents/Work/projects/non-holo-mpc/results/data/videos/06_05_2021_16_55.mp4
+file=/local_scratch/aauterna/Documents/Work/projects/non-holo-mpc/results/data/videos/17_05_2021_15_10.mp4
 profile=
 separate_files=false
 video_allow_frame_skipping=true